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Realistic Models for Characterizing the Performance of Unmanned Aerial Vehicles

机译：表征无人驾驶飞行器性能的现实模型

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摘要

Unmanned Aerial Vehicles (UAVs) are increasingly being adopted for military and civilian applications. UAVs available on the market are well known to be resource constrained, especially in terms of available energy. As a result, it is very challenging to predict the critical performance characteristics of a UAV, such as flight time or the ability of a UAV to complete a mission, given the system parameters. Nevertheless, such predictions would have several benefits, such as improving the effectiveness of mission planners and optimization algorithms in general, as well as enabling researchers to perform more realistic simulations. The goal of this paper is to gain understanding in how physical, mechanical, or electrical hardware aspects of a UAV affect the UAV performance and ultimately its capability to accomplish a mission. We propose two models for UAV performance. The first model considers basic UAV operations, while the second model considers the UAV physical characteristics as well as the mission specifications to predict the UAV flight time and the number of waypoints it can safely traverse. We validate our models thorough experiments using a real test-bed based on 3DR Solo UAVs. The results show that our approach is able to reliably predict performance to within less than 5% margin of error.
机译：越来越多地采用无人驾驶航空公司（无人机）用于军事和民用应用。众所周知，市场上可用的无人机是资源受约束的，特别是在可用能源方面。因此，考虑到系统参数，预测无人机的临界性能特征是非常具有挑战性的，例如飞行时间或无人机完成任务的能力。尽管如此，这种预测将有几个好处，例如提高使命策划者和优化算法的有效性，以及使研究人员能够执行更加现实的模拟。本文的目标是在无人机的物理，机械或电气硬件方面如何影响无人机的性能，并最终实现任务的能力。我们为无人机性能提出了两种模型。第一个模型考虑了基本的UAV操作，而第二种模型考虑过UAV物理特性以及使命规范以预测UAV飞行时间和它可以安全地遍历的航路点数。我们使用基于3DR独奏无人机的真正的测试床验证我们的模型彻底实验。结果表明，我们的方法能够可靠地将性能可靠地预测到不到5％的误差范围内。

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